From 42984dd07eda92f8a38d0e74dc5a7bbc8fa8a5a2 Mon Sep 17 00:00:00 2001 From: CRISISXx Date: Sat, 25 Apr 2026 17:26:27 -0400 Subject: [PATCH 01/18] Add project page for Abdulrahman_Hayder_M_Jawad_AL-WAELY --- .../2026/Abdulrahman_Hayder_M_Jawad_AL-WAELY/index.md | 6 ++++++ 1 file changed, 6 insertions(+) create mode 100644 website/versioned_docs/version-fils_en/project/2026/Abdulrahman_Hayder_M_Jawad_AL-WAELY/index.md diff --git a/website/versioned_docs/version-fils_en/project/2026/Abdulrahman_Hayder_M_Jawad_AL-WAELY/index.md b/website/versioned_docs/version-fils_en/project/2026/Abdulrahman_Hayder_M_Jawad_AL-WAELY/index.md new file mode 100644 index 00000000000..10ff1a4c109 --- /dev/null +++ b/website/versioned_docs/version-fils_en/project/2026/Abdulrahman_Hayder_M_Jawad_AL-WAELY/index.md @@ -0,0 +1,6 @@ +# Hydraulic Arm + +*A robotic arm that can move using hydraulics, and another piece that will be a glove that will send the movement so that the arm can mimic it.* + +## Description + From d43d1d027c567029680918f66eeeaeff0e21043c Mon Sep 17 00:00:00 2001 From: CRISISXx Date: Mon, 11 May 2026 20:38:59 -0400 Subject: [PATCH 02/18] fixed requested changes --- .../index.md | 6 --- .../index.md | 50 +++++++++++++++++++ 2 files changed, 50 insertions(+), 6 deletions(-) delete mode 100644 website/versioned_docs/version-fils_en/project/2026/Abdulrahman_Hayder_M_Jawad_AL-WAELY/index.md create mode 100644 website/versioned_docs/version-fils_en/project/2026/abdulrahman_hayder_m_jawad_al-waely/index.md diff --git a/website/versioned_docs/version-fils_en/project/2026/Abdulrahman_Hayder_M_Jawad_AL-WAELY/index.md b/website/versioned_docs/version-fils_en/project/2026/Abdulrahman_Hayder_M_Jawad_AL-WAELY/index.md deleted file mode 100644 index 10ff1a4c109..00000000000 --- a/website/versioned_docs/version-fils_en/project/2026/Abdulrahman_Hayder_M_Jawad_AL-WAELY/index.md +++ /dev/null @@ -1,6 +0,0 @@ -# Hydraulic Arm - -*A robotic arm that can move using hydraulics, and another piece that will be a glove that will send the movement so that the arm can mimic it.* - -## Description - diff --git a/website/versioned_docs/version-fils_en/project/2026/abdulrahman_hayder_m_jawad_al-waely/index.md b/website/versioned_docs/version-fils_en/project/2026/abdulrahman_hayder_m_jawad_al-waely/index.md new file mode 100644 index 00000000000..0962286bb0b --- /dev/null +++ b/website/versioned_docs/version-fils_en/project/2026/abdulrahman_hayder_m_jawad_al-waely/index.md @@ -0,0 +1,50 @@ +# Hydraulic Arm + +*A robotic arm that can move using hydraulics, and a glove that will send the movement to the arm to mimic or control it.* + +## Description + +*Basically my project is a robotic arm that can move using hydraulics. Most of the pieces will be 3D printed, using syringes filled with water and small flexible tubes. We can increase the pressure in the tubes making them stiffen, and using silicone bands we can simulate a reverse motion. The syringes will be pressed using stepper motors.* + +## Motivation + +*My motivation for this project is to help those who have been less fortunate and have lost the ability to perform simple day-to-day tasks. I don't plan on making a super precised and expensive factory production robotic arm rather I am focusing on making a cheaper desk arm that can do simple tasks such as helping an amputee put on a watch, or wear a jacket, or hold down the paper as he or she writes. Furthermore I believe that in most task that requires automation it isn't needed a full robot that can walk and that looks like a human with an expensive parts, what is actually needed or the part that is most used or the majority of those tasks is just the hand any other part could be basicly any shape as long as it can perform a simple motion for some tasks.* + +## Architecture + +*To be added* + +## Log + +### Week 3 - March 11 + +*Here I started to think of my project idea and how it would work and the parts I needed for it to work. Basically at this period was the planning phase.* + +### Week 6 - April 1 + +*During this period, I decided most of the parts that I needed were searching for the best place to get all of them from. And waiting for the project idea feedback* + +### Week 7 - April 8 + +*I ordered most of the parts that I need such as the cables, stepper motors, MPU6050, and more.* + +### Week 7 - April 10 + +*I decided the 3D modeling software that I will use and started to watch tutorials and get used to the layout and for the following days I started to make the first set of designs.* + +### Week 9 April 23 + +*At this time I had received the ordered parts and I started testing and using them so far I could not go far in the 3D model as I needed to take measurements for the parts that I had to use and I still needed more of the orders to arrive.* + +### Week 10 May 1 + +** + + +## Hardware + + +## Schematics + + +## Bill of Materials \ No newline at end of file From 8d2309b79536d3388f581a28c19afa5603a29801 Mon Sep 17 00:00:00 2001 From: CRISISXx Date: Tue, 12 May 2026 18:47:06 +0300 Subject: [PATCH 03/18] Revise project motivation and log entries Updated the motivation section for clarity and corrected grammatical errors. Revised the log entries for improved readability and consistency. --- .../2026/abdulrahman_hayder_m_jawad_al-waely/index.md | 10 +++++----- 1 file changed, 5 insertions(+), 5 deletions(-) diff --git a/website/versioned_docs/version-fils_en/project/2026/abdulrahman_hayder_m_jawad_al-waely/index.md b/website/versioned_docs/version-fils_en/project/2026/abdulrahman_hayder_m_jawad_al-waely/index.md index 0962286bb0b..e7a31ea2ab0 100644 --- a/website/versioned_docs/version-fils_en/project/2026/abdulrahman_hayder_m_jawad_al-waely/index.md +++ b/website/versioned_docs/version-fils_en/project/2026/abdulrahman_hayder_m_jawad_al-waely/index.md @@ -8,7 +8,7 @@ ## Motivation -*My motivation for this project is to help those who have been less fortunate and have lost the ability to perform simple day-to-day tasks. I don't plan on making a super precised and expensive factory production robotic arm rather I am focusing on making a cheaper desk arm that can do simple tasks such as helping an amputee put on a watch, or wear a jacket, or hold down the paper as he or she writes. Furthermore I believe that in most task that requires automation it isn't needed a full robot that can walk and that looks like a human with an expensive parts, what is actually needed or the part that is most used or the majority of those tasks is just the hand any other part could be basicly any shape as long as it can perform a simple motion for some tasks.* +*My motivation for this project is to help those who have physical limitations and have lost the ability to perform simple day-to-day tasks. I don't plan on making a super precise and expensive factory production robotic arm rather I am focusing on making a cheaper desk arm that can do simple tasks such as helping an amputee put on a watch, put on a jacket, or hold down the paper as they write. Furthermore I believe that in most task that requires automation it isn't needed a full robot that can walk and that looks like a human with an expensive parts, what is actually needed or the part that is most used or the majority of those tasks is just the hand any other part could be basically any shape as long as it can perform a simple motion for some tasks.* ## Architecture @@ -18,11 +18,11 @@ ### Week 3 - March 11 -*Here I started to think of my project idea and how it would work and the parts I needed for it to work. Basically at this period was the planning phase.* +*At this stage, I started to think of my project idea and how it would work and the parts I needed for it to work. Basically at this period was the planning phase.* ### Week 6 - April 1 -*During this period, I decided most of the parts that I needed were searching for the best place to get all of them from. And waiting for the project idea feedback* +*During this period, I decided on most of the parts that I needed were searching for the best place to get all of them from. And waiting for the project idea feedback* ### Week 7 - April 8 @@ -30,7 +30,7 @@ ### Week 7 - April 10 -*I decided the 3D modeling software that I will use and started to watch tutorials and get used to the layout and for the following days I started to make the first set of designs.* +*I decided on the 3D modeling software that I will use and started to watch tutorials and get used to the layout and for the following days I started to make the first set of designs.* ### Week 9 April 23 @@ -47,4 +47,4 @@ ## Schematics -## Bill of Materials \ No newline at end of file +## Bill of Materials From 1ad3f717ec766d37ba9d0c84ce391ad9cbb8cc7f Mon Sep 17 00:00:00 2001 From: CRISISXx Date: Tue, 25 Aug 2026 05:38:18 +0300 Subject: [PATCH 04/18] Enhance project documentation for hydraulic arm Added project details including author, GitHub link, hardware, and software specifications. --- .../index.md | 33 ++++++++++++++++++- 1 file changed, 32 insertions(+), 1 deletion(-) diff --git a/website/versioned_docs/version-fils_en/project/2026/abdulrahman_hayder_m_jawad_al-waely/index.md b/website/versioned_docs/version-fils_en/project/2026/abdulrahman_hayder_m_jawad_al-waely/index.md index e7a31ea2ab0..b731c3bc24a 100644 --- a/website/versioned_docs/version-fils_en/project/2026/abdulrahman_hayder_m_jawad_al-waely/index.md +++ b/website/versioned_docs/version-fils_en/project/2026/abdulrahman_hayder_m_jawad_al-waely/index.md @@ -2,6 +2,13 @@ *A robotic arm that can move using hydraulics, and a glove that will send the movement to the arm to mimic or control it.* +:::info + +**Author**: Al Waely Abdulrahman \ +**GitHub Project Link**: https://github.com/UPB-PMRust-Students/fils-project-2026-CRISISXx/tree/main + +::: + ## Description *Basically my project is a robotic arm that can move using hydraulics. Most of the pieces will be 3D printed, using syringes filled with water and small flexible tubes. We can increase the pressure in the tubes making them stiffen, and using silicone bands we can simulate a reverse motion. The syringes will be pressed using stepper motors.* @@ -12,7 +19,7 @@ ## Architecture -*To be added* + ## Log @@ -42,9 +49,33 @@ ## Hardware +The project used two ESP32 38 pins to send data wirelessly via ESP-NOW, pico 2W for more GPIO pins to control the motors, five stepper motors to control each finger movement, and a DIY flex sensor to detect each finger's movement. ## Schematics ## Bill of Materials + +| Device | Usage | Price | +|--------|--------|-------| +| [Raspberry Pi Pico 2W](https://www.raspberrypi.com/documentation/microcontrollers/pico-series.html#pico2) | The microcontroller | [39.66 RON](https://www.optimusdigital.ro/en/raspberry-pi-boards/13327-raspberry-pi-pico-2-w.html) | +| [Plusivo ESP32 and BLE Compatible Wireless Development Board x2](https://www.raspberrypi.com/documentation/microcontrollers/pico-series.html#pico2) | The microcontroller | [60 RON](https://www.optimusdigital.ro/en/esp32-boards/12933-plusivo-esp32-and-ble-compatible-wireless-development-board.html) | +| [28BYJ48 stepper motor module and ULN2003 driver x5](https://www.mouser.com/datasheet/2/758/stepd-01-data-sheet-1143075.pdf) | The microcontroller | [94.9 RON](https://www.bitmi.ro/module-electronice/modul-motor-pas-cu-pas-28byj48-si-driver-uln2003-10399.html) | + +## Software + +| Library | Description | Usage | +|---------|-------------|-------| +| [defmt_rtt & panic_probe](https://github.com/knurling-rs/defmt/blob/main/README.md) | RTT-based logging and panic handler | Used to stream debug log messages from the pico to the terminal | +| [defmt](https://github.com/knurling-rs/defmt/blob/main/README.md) | Deferred formatting logging framework | Used to provide low_overhead logging macros for terminal diagnostics | +| [embassy_executor](https://github.com/embassy-rs/embassy) | Asynchronous task execution engine | Used to manage and run async tasks on the microcontroller | +| [embassy_rp](https://github.com/embassy-rs/embassy) | Hardware peripheral access library for raspberry pi pico | Used to initialize hardware peripherals, including GPIO pins and UART serial communication | +| [embassy_time](https://github.com/embassy-rs/embassy) | Asynchronous time managment library | Used to handele precise non-blocking delays between stepper motor steps | +| [serde](https://github.com/serde-rs/serde) | Framework for serializing and deserializing data structures | Used alongside postcard to translate custom finger coordinate structs into raw bytes from transmission | +| [nb](https://github.com/rust-embedded/nb) | Non-blocking I/O abstraction wrapper | Used to block on non-blocking operations like ADC conversions | + + + + + From d767893f76ba14f54f936779f6d98df023e94d05 Mon Sep 17 00:00:00 2001 From: CRISISXx Date: Tue, 25 Aug 2026 05:38:57 +0300 Subject: [PATCH 05/18] Add files via upload --- .../2026/abdulrahman_hayder_m_jawad_al-waely/Architecture.svg | 4 ++++ 1 file changed, 4 insertions(+) create mode 100644 website/versioned_docs/version-fils_en/project/2026/abdulrahman_hayder_m_jawad_al-waely/Architecture.svg diff --git a/website/versioned_docs/version-fils_en/project/2026/abdulrahman_hayder_m_jawad_al-waely/Architecture.svg b/website/versioned_docs/version-fils_en/project/2026/abdulrahman_hayder_m_jawad_al-waely/Architecture.svg new file mode 100644 index 00000000000..5d22d7d386d --- /dev/null +++ b/website/versioned_docs/version-fils_en/project/2026/abdulrahman_hayder_m_jawad_al-waely/Architecture.svg @@ -0,0 +1,4 @@ + + +Being limited by the GPIO pinson the ESP 32 an exsta connection was made to add moreGPIO pins for motor control.Five-custome made flex sensorsdiffining a range for each flex sensor and sending the datavai ESP-NOW connected to ADC pinson the espThe glovesending the flex sensor rounded data vai low-latency ESP-NOW wireless The control boxHere the finger data will be collected, smothened, and avaraged, thensent as a percentage using ESP-NOW. It will only be send data when itcrosses a specific threshold toavoid chocking the wifi signal.The reciver ESP 32The Receiver ESP32: Here, data for the five fingers is received. Each new packet is compared to the previous data, and based on the difference, it decides which direction to move the motors and by how much.The sender ESP 32The pico 2wUsing Half-duplex UART to send data for the last two fingers to the picoThe handA set of five motors connected to gears and sliders. When a signal is given by the microcontroller, they rotate to push or pull the sliders.The sliders will push or pull on a set of syringes filled with waterHere is where the main actionwill be preformed. The data from the glove will be received, andbased on it, a set of motors will move to perform the required action. "The main hand contains no electronics; it moves using hydraulic pressure and silicone bands. It consists of a base holding the hand, containing five syringes responsible for opening and closing each finger. \ No newline at end of file From b79fe98fcc00e4c5a226375df25dc1209af63d36 Mon Sep 17 00:00:00 2001 From: CRISISXx Date: Tue, 25 Aug 2026 05:41:57 +0300 Subject: [PATCH 06/18] Add architecture diagram to project documentation Added a diagram to illustrate the architecture of the project. --- .../project/2026/abdulrahman_hayder_m_jawad_al-waely/index.md | 1 + 1 file changed, 1 insertion(+) diff --git a/website/versioned_docs/version-fils_en/project/2026/abdulrahman_hayder_m_jawad_al-waely/index.md b/website/versioned_docs/version-fils_en/project/2026/abdulrahman_hayder_m_jawad_al-waely/index.md index b731c3bc24a..e301af6ce47 100644 --- a/website/versioned_docs/version-fils_en/project/2026/abdulrahman_hayder_m_jawad_al-waely/index.md +++ b/website/versioned_docs/version-fils_en/project/2026/abdulrahman_hayder_m_jawad_al-waely/index.md @@ -18,6 +18,7 @@ *My motivation for this project is to help those who have physical limitations and have lost the ability to perform simple day-to-day tasks. I don't plan on making a super precise and expensive factory production robotic arm rather I am focusing on making a cheaper desk arm that can do simple tasks such as helping an amputee put on a watch, put on a jacket, or hold down the paper as they write. Furthermore I believe that in most task that requires automation it isn't needed a full robot that can walk and that looks like a human with an expensive parts, what is actually needed or the part that is most used or the majority of those tasks is just the hand any other part could be basically any shape as long as it can perform a simple motion for some tasks.* ## Architecture +![Diagram](Architecture.svg) From 1333e8893c31ff8c3a74064da10c5b83441fc61c Mon Sep 17 00:00:00 2001 From: CRISISXx Date: Tue, 25 Aug 2026 05:46:53 +0300 Subject: [PATCH 07/18] Add diagram to robotic hand project documentation Added a diagram to the project documentation. --- .../project/2026/abdulrahman_hayder_m_jawad_al-waely/index.md | 1 + 1 file changed, 1 insertion(+) diff --git a/website/versioned_docs/version-fils_en/project/2026/abdulrahman_hayder_m_jawad_al-waely/index.md b/website/versioned_docs/version-fils_en/project/2026/abdulrahman_hayder_m_jawad_al-waely/index.md index e301af6ce47..04417d171e5 100644 --- a/website/versioned_docs/version-fils_en/project/2026/abdulrahman_hayder_m_jawad_al-waely/index.md +++ b/website/versioned_docs/version-fils_en/project/2026/abdulrahman_hayder_m_jawad_al-waely/index.md @@ -54,6 +54,7 @@ The project used two ESP32 38 pins to send data wirelessly via ESP-NOW, pico 2W ## Schematics +![Diagram](RoboticHand.svg) ## Bill of Materials From 3edf1c0c2abd6f7efc0c7146783ed9e0c7059daa Mon Sep 17 00:00:00 2001 From: CRISISXx Date: Tue, 25 Aug 2026 05:47:19 +0300 Subject: [PATCH 08/18] Add files via upload --- .../RoboticHand.svg | 29330 ++++++++++++++++ 1 file changed, 29330 insertions(+) create mode 100644 website/versioned_docs/version-fils_en/project/2026/abdulrahman_hayder_m_jawad_al-waely/RoboticHand.svg diff --git a/website/versioned_docs/version-fils_en/project/2026/abdulrahman_hayder_m_jawad_al-waely/RoboticHand.svg b/website/versioned_docs/version-fils_en/project/2026/abdulrahman_hayder_m_jawad_al-waely/RoboticHand.svg new file mode 100644 index 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+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +R3 +R3 + + + + + + + + + + + + + + + + + + + + + + + + +400K +400K + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +R5 +R5 + + + + + + + + + + + + + + + + + + + + + + + + + + +400K +400K + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +J5 +J5 + + + + + + + + + + + + + + + + + + + + +flex sensor +flex sensor + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +1 + +1 + + + + + + + + + + + +2 + +2 + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + From f75ca84574ab41252319fab542be552964211992 Mon Sep 17 00:00:00 2001 From: CRISISXx Date: Tue, 25 Aug 2026 06:00:34 +0300 Subject: [PATCH 09/18] Update sensor description and clarify flex sensor issue Corrected the description of the sensors used in the project and clarified the issue with the flex sensors. --- .../project/2026/abdulrahman_hayder_m_jawad_al-waely/index.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/website/versioned_docs/version-fils_en/project/2026/abdulrahman_hayder_m_jawad_al-waely/index.md b/website/versioned_docs/version-fils_en/project/2026/abdulrahman_hayder_m_jawad_al-waely/index.md index 04417d171e5..d95d2d3ebd8 100644 --- a/website/versioned_docs/version-fils_en/project/2026/abdulrahman_hayder_m_jawad_al-waely/index.md +++ b/website/versioned_docs/version-fils_en/project/2026/abdulrahman_hayder_m_jawad_al-waely/index.md @@ -46,7 +46,7 @@ ### Week 10 May 1 -** +*By this time I had received most of my orders but I had one big problem was the flex sensors that I had ordered were pressure sensors. I made a mistake by ordering the wrong sensors thus I decided to make my own flex sensors. Flex sensors are basically a simi-conductive material. When it is straight, it conducts electricity with a small amount of resistance. But when it bends the conductive molecules move further apart and thus cause an increase in resistance.* ## Hardware From 161a0c4641e9306ce9190828570baa9de782d061 Mon Sep 17 00:00:00 2001 From: CRISISXx Date: Tue, 25 Aug 2026 10:43:58 +0300 Subject: [PATCH 10/18] Document submission week and summer vacation updates Added updates on submission week challenges and summer vacation activities, including 3D printing issues and hardware changes. --- .../2026/abdulrahman_hayder_m_jawad_al-waely/index.md | 9 +++++++++ 1 file changed, 9 insertions(+) diff --git a/website/versioned_docs/version-fils_en/project/2026/abdulrahman_hayder_m_jawad_al-waely/index.md b/website/versioned_docs/version-fils_en/project/2026/abdulrahman_hayder_m_jawad_al-waely/index.md index d95d2d3ebd8..30f043d00dd 100644 --- a/website/versioned_docs/version-fils_en/project/2026/abdulrahman_hayder_m_jawad_al-waely/index.md +++ b/website/versioned_docs/version-fils_en/project/2026/abdulrahman_hayder_m_jawad_al-waely/index.md @@ -48,6 +48,15 @@ *By this time I had received most of my orders but I had one big problem was the flex sensors that I had ordered were pressure sensors. I made a mistake by ordering the wrong sensors thus I decided to make my own flex sensors. Flex sensors are basically a simi-conductive material. When it is straight, it conducts electricity with a small amount of resistance. But when it bends the conductive molecules move further apart and thus cause an increase in resistance.* +### On the week of submission + +*On the last week of submission I couldn't get the parts printed from the university thus, I decided to buy my own 3D printer and attemted to print the 3D model myself. Unfortunatly I didn't have the time nor the experience needed to perform the 3D print. Partes didn't fit together, others broke very easily. For that reason I decided to print only the necessary parts and the other large parts I would make them using wood. Unfortunately even with all my attempts and efforts I couldn't get it done on time, and the parts that I did make broke when I was transporting them to the university. * + +### The summer vacation + +*On the summer vacation, I spent mostly 3D printing parts and making sure that the printer is optimized I broke parts from it and had to fix or order replacement parts. I changed from using an STM32 to a pico 2W and two ESP32s. I still couldn't 3D print all the parts, but I was able to print the actual hand. I programmed it and used ESP-NOW to send data from the glove to the actual hand and move it. I also had to change my original idea of using tubes to flex the hand as the force was too weak for preforming action. * + + ## Hardware The project used two ESP32 38 pins to send data wirelessly via ESP-NOW, pico 2W for more GPIO pins to control the motors, five stepper motors to control each finger movement, and a DIY flex sensor to detect each finger's movement. From 4e7ce4421d318bf282fc6b0602b2bffd33a0e5a4 Mon Sep 17 00:00:00 2001 From: CRISISXx Date: Tue, 25 Aug 2026 17:47:10 +0300 Subject: [PATCH 11/18] Add new libraries for Espressif chip support --- .../2026/abdulrahman_hayder_m_jawad_al-waely/index.md | 8 ++++++++ 1 file changed, 8 insertions(+) diff --git a/website/versioned_docs/version-fils_en/project/2026/abdulrahman_hayder_m_jawad_al-waely/index.md b/website/versioned_docs/version-fils_en/project/2026/abdulrahman_hayder_m_jawad_al-waely/index.md index 30f043d00dd..46e71325ea4 100644 --- a/website/versioned_docs/version-fils_en/project/2026/abdulrahman_hayder_m_jawad_al-waely/index.md +++ b/website/versioned_docs/version-fils_en/project/2026/abdulrahman_hayder_m_jawad_al-waely/index.md @@ -86,6 +86,14 @@ The project used two ESP32 38 pins to send data wirelessly via ESP-NOW, pico 2W | [serde](https://github.com/serde-rs/serde) | Framework for serializing and deserializing data structures | Used alongside postcard to translate custom finger coordinate structs into raw bytes from transmission | | [nb](https://github.com/rust-embedded/nb) | Non-blocking I/O abstraction wrapper | Used to block on non-blocking operations like ADC conversions | +| [esp_backtrace](https://github.com/esp-rs/esp-backtrace) | Panic and backtrrace handler for Espressif chips | Used to catch system crashes and print descriptive backtrace error to the console. | +| [esp_hal](https://github.com/esp-rs/esp-hal) | Hardware abstraction layer for Espressif microcontrollers| Used to configure and control hardware peripherals like GPIO output pins, ADCs, timers, and UART transmission lines. | + +| [esp_println](https://github.com/esp-rs/esp-println) | Print infrastructure for Espressif chips | Used to output text strings and debug info directly to the serial console via peintln! | + +| [esp_wifi]() | Wi_Fi and ESP-NOW protocol driver for ESP chips | Used to initialize wireless connectivity and broadcast glove sensor data via ESP-NOW | + + From da4d241563d9cc09bfc99fcd8aaf47a23c2aaee5 Mon Sep 17 00:00:00 2001 From: CRISISXx Date: Tue, 25 Aug 2026 17:54:14 +0300 Subject: [PATCH 12/18] Revise project timeline and challenges in index.md Clarified the challenges faced during the 3D printing process and the adjustments made to the project. Summarized the progress made over the summer vacation, including the development of a working prototype. --- .../project/2026/abdulrahman_hayder_m_jawad_al-waely/index.md | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/website/versioned_docs/version-fils_en/project/2026/abdulrahman_hayder_m_jawad_al-waely/index.md b/website/versioned_docs/version-fils_en/project/2026/abdulrahman_hayder_m_jawad_al-waely/index.md index 46e71325ea4..0a66823d230 100644 --- a/website/versioned_docs/version-fils_en/project/2026/abdulrahman_hayder_m_jawad_al-waely/index.md +++ b/website/versioned_docs/version-fils_en/project/2026/abdulrahman_hayder_m_jawad_al-waely/index.md @@ -50,11 +50,11 @@ ### On the week of submission -*On the last week of submission I couldn't get the parts printed from the university thus, I decided to buy my own 3D printer and attemted to print the 3D model myself. Unfortunatly I didn't have the time nor the experience needed to perform the 3D print. Partes didn't fit together, others broke very easily. For that reason I decided to print only the necessary parts and the other large parts I would make them using wood. Unfortunately even with all my attempts and efforts I couldn't get it done on time, and the parts that I did make broke when I was transporting them to the university. * +*On the last week of submission I couldn't get the parts printed from the university thus, I decided to buy my own 3D printer and attemted to print the 3D model myself. Unfortunatly I didn't have the time nor the experience needed to perform the 3D print. Partes didn't fit together, others broke very easily. For that reason I decided to print only the necessary parts and the other large parts I would make them using wood. Unfortunately even with all my attempts and efforts I couldn't get it done on time, and the parts that I did make broke when I was transporting them to the university.* ### The summer vacation -*On the summer vacation, I spent mostly 3D printing parts and making sure that the printer is optimized I broke parts from it and had to fix or order replacement parts. I changed from using an STM32 to a pico 2W and two ESP32s. I still couldn't 3D print all the parts, but I was able to print the actual hand. I programmed it and used ESP-NOW to send data from the glove to the actual hand and move it. I also had to change my original idea of using tubes to flex the hand as the force was too weak for preforming action. * +*On the summer vacation, I spent mostly 3D printing parts and making sure that the printer is optimized I broke parts from it and had to fix or order replacement parts. I changed from using an STM32 to a pico 2W and two ESP32s. I still couldn't 3D print all the parts, but I was able to print the actual hand. I programmed it and used ESP-NOW to send data from the glove to the actual hand and move it. I also had to change my original idea of using tubes to flex the hand as the force was too weak for preforming action. At the end I managed to make a working three part of the hydraulic hand, the gloves, the control box and the hydraulic hand. It is not perfect, but it is the first minimum viable product* From 7d8eeb2bc8d1a66d874fd0f8f2e8ba5a052b1e43 Mon Sep 17 00:00:00 2001 From: CRISISXx Date: Wed, 26 Aug 2026 17:30:17 +0300 Subject: [PATCH 13/18] Add files via upload --- .../Architecture (2).svg | 1989 +++++++++++++++++ 1 file changed, 1989 insertions(+) create mode 100644 website/versioned_docs/version-fils_en/project/2026/abdulrahman_hayder_m_jawad_al-waely/Architecture (2).svg diff --git a/website/versioned_docs/version-fils_en/project/2026/abdulrahman_hayder_m_jawad_al-waely/Architecture (2).svg b/website/versioned_docs/version-fils_en/project/2026/abdulrahman_hayder_m_jawad_al-waely/Architecture (2).svg new file mode 100644 index 00000000000..8712678208a --- /dev/null +++ b/website/versioned_docs/version-fils_en/project/2026/abdulrahman_hayder_m_jawad_al-waely/Architecture (2).svg @@ -0,0 +1,1989 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + 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14/18] Delete website/versioned_docs/version-fils_en/project/2026/abdulrahman_hayder_m_jawad_al-waely/Architecture.svg --- .../2026/abdulrahman_hayder_m_jawad_al-waely/Architecture.svg | 4 ---- 1 file changed, 4 deletions(-) delete mode 100644 website/versioned_docs/version-fils_en/project/2026/abdulrahman_hayder_m_jawad_al-waely/Architecture.svg diff --git a/website/versioned_docs/version-fils_en/project/2026/abdulrahman_hayder_m_jawad_al-waely/Architecture.svg b/website/versioned_docs/version-fils_en/project/2026/abdulrahman_hayder_m_jawad_al-waely/Architecture.svg deleted file mode 100644 index 5d22d7d386d..00000000000 --- a/website/versioned_docs/version-fils_en/project/2026/abdulrahman_hayder_m_jawad_al-waely/Architecture.svg +++ /dev/null @@ -1,4 +0,0 @@ - - -Being limited by the GPIO pinson the ESP 32 an exsta connection was made to add moreGPIO pins for motor control.Five-custome made flex sensorsdiffining a range for each flex sensor and sending the datavai ESP-NOW connected to ADC pinson the espThe glovesending the flex sensor rounded data vai low-latency ESP-NOW wireless The control boxHere the finger data will be collected, smothened, and avaraged, thensent as a percentage using ESP-NOW. It will only be send data when itcrosses a specific threshold toavoid chocking the wifi signal.The reciver ESP 32The Receiver ESP32: Here, data for the five fingers is received. Each new packet is compared to the previous data, and based on the difference, it decides which direction to move the motors and by how much.The sender ESP 32The pico 2wUsing Half-duplex UART to send data for the last two fingers to the picoThe handA set of five motors connected to gears and sliders. When a signal is given by the microcontroller, they rotate to push or pull the sliders.The sliders will push or pull on a set of syringes filled with waterHere is where the main actionwill be preformed. The data from the glove will be received, andbased on it, a set of motors will move to perform the required action. "The main hand contains no electronics; it moves using hydraulic pressure and silicone bands. It consists of a base holding the hand, containing five syringes responsible for opening and closing each finger. \ No newline at end of file From 5698f1c5959bfd02eafc2fe849fec21574176d40 Mon Sep 17 00:00:00 2001 From: CRISISXx Date: Wed, 26 Aug 2026 17:32:12 +0300 Subject: [PATCH 15/18] Delete website/versioned_docs/version-fils_en/project/2026/abdulrahman_hayder_m_jawad_al-waely/Architecture (2).svg --- .../Architecture (2).svg | 1989 ----------------- 1 file changed, 1989 deletions(-) delete mode 100644 website/versioned_docs/version-fils_en/project/2026/abdulrahman_hayder_m_jawad_al-waely/Architecture (2).svg diff --git a/website/versioned_docs/version-fils_en/project/2026/abdulrahman_hayder_m_jawad_al-waely/Architecture (2).svg b/website/versioned_docs/version-fils_en/project/2026/abdulrahman_hayder_m_jawad_al-waely/Architecture (2).svg deleted file mode 100644 index 8712678208a..00000000000 --- a/website/versioned_docs/version-fils_en/project/2026/abdulrahman_hayder_m_jawad_al-waely/Architecture (2).svg +++ /dev/null @@ -1,1989 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - From 13b84c1bf015e641ce56cba7a81e8e31e1563590 Mon Sep 17 00:00:00 2001 From: CRISISXx Date: Wed, 26 Aug 2026 17:33:10 +0300 Subject: [PATCH 16/18] Add files via upload --- .../Architecture.svg | 1981 +++++++++++++++++ 1 file changed, 1981 insertions(+) create mode 100644 website/versioned_docs/version-fils_en/project/2026/abdulrahman_hayder_m_jawad_al-waely/Architecture.svg diff --git a/website/versioned_docs/version-fils_en/project/2026/abdulrahman_hayder_m_jawad_al-waely/Architecture.svg b/website/versioned_docs/version-fils_en/project/2026/abdulrahman_hayder_m_jawad_al-waely/Architecture.svg new file mode 100644 index 00000000000..78c3504a732 --- /dev/null +++ b/website/versioned_docs/version-fils_en/project/2026/abdulrahman_hayder_m_jawad_al-waely/Architecture.svg @@ -0,0 +1,1981 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + 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+0300 Subject: [PATCH 17/18] Delete website/versioned_docs/version-fils_en/project/2026/abdulrahman_hayder_m_jawad_al-waely/RoboticHand.svg --- .../RoboticHand.svg | 29330 ---------------- 1 file changed, 29330 deletions(-) delete mode 100644 website/versioned_docs/version-fils_en/project/2026/abdulrahman_hayder_m_jawad_al-waely/RoboticHand.svg diff --git a/website/versioned_docs/version-fils_en/project/2026/abdulrahman_hayder_m_jawad_al-waely/RoboticHand.svg b/website/versioned_docs/version-fils_en/project/2026/abdulrahman_hayder_m_jawad_al-waely/RoboticHand.svg deleted file mode 100644 index 7e04ca502b3..00000000000 --- a/website/versioned_docs/version-fils_en/project/2026/abdulrahman_hayder_m_jawad_al-waely/RoboticHand.svg +++ /dev/null @@ -1,29330 +0,0 @@ - - - -SVG Image created as RoboticHand.svg date 2026-08-25T05:45:17 - Image generated by Eeschema-SVG - - - - - - - - - - - -1 -1 - - - - - -2 -2 - - - - - - - - - - -3 -3 - - - - - - - - - - - - - -4 -4 - - - -5 -5 - - - - - - - - - - - - - - - -6 -6 - - - - - - - - - - - - - - - - - - - - - - - - - - -1 -1 - - - - - -2 -2 - - - - - - - - - - -3 -3 - - - - - - - - - - - - - -4 -4 - - - -5 -5 - - - - - - - - - - - - - - - -6 -6 - - - - - - - - - - - - - - - - - - - - - - - - -A -A - - - -B -B - - - - - - - - - - - - - - - - - - -C -C - - - - - - - - - - - - - - - -D -D - - - - - - - - - - - - - - - -A -A - - - -B -B - - - - - - - - - - - - - - - - - - -C -C - - - - - - - - - - - - - - - -D -D - - - - - - - - - - - - -Date: -Date: - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -KiCad E.D.A. 10.0.5 -KiCad E.D.A. 10.0.5 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -Rev: -Rev: - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -Size: A4 -Size: A4 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -Id: 1/1 -Id: 1/1 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -Title: -Title: - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -File: RoboticHand.kicad_sch -File: RoboticHand.kicad_sch - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -Sheet: / -Sheet: / - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 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- - -J5 -J5 - - - - - - - - - - - - - - - - - - - - -flex sensor -flex sensor - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -1 - -1 - - - - - - - - - - - -2 - -2 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - From 618ae060fcb1d50b8bfa0a2660c0eb8e5efba7d1 Mon Sep 17 00:00:00 2001 From: CRISISXx Date: Sun, 30 Aug 2026 01:23:53 +0300 Subject: [PATCH 18/18] Add files via upload --- .../2026/abdulrahman_hayder_m_jawad_al-waely/RoboticHand.svg | 1 + 1 file changed, 1 insertion(+) create mode 100644 website/versioned_docs/version-fils_en/project/2026/abdulrahman_hayder_m_jawad_al-waely/RoboticHand.svg diff --git a/website/versioned_docs/version-fils_en/project/2026/abdulrahman_hayder_m_jawad_al-waely/RoboticHand.svg 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